#联机

zjj

2023-11-21 16441fe63adf04e0c434377f7da0fd05ba155eb6

 src/main/java/com/zy/asrs/controller/CrnController.java

@@ -1,5 +1,6 @@
package com.zy.asrs.controller;

import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.plugins.Page;
@@ -50,6 +51,8 @@
@Slf4j
@RestController
public class CrnController {



    @Autowired
    private SlaveProperties slaveProperties;
@@ -576,6 +579,27 @@
        return R.error();
    }

    @ManagerAuth(memo = "切换联机模式")
    @PostMapping("/crn/operator/auto")
    public R crnAuto(CrnOperatorParam param){
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
//        command.setSourcePosX(param.getSourceRow());     // 源库位排
//        command.setSourcePosY(param.getSourceBay());     // 源库位列
//        command.setSourcePosZ(param.getSourceLev());     // 源库位层
//        command.setDestinationPosX(param.getRow());     // 目标库位排
//        command.setDestinationPosY(param.getBay());     // 目标库位列
//        command.setDestinationPosZ(param.getLev());     // 目标库位层
        command.setAuto((short)1);

        return crnControl(command)?R.ok():R.error();
    }


    private boolean crnControl(CrnCommand command){
        if (command.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");